Hey all,<br><br>Navigation 1.1.3 has been released. Navigation is now locked for C-Turtle so future releases in the 1.1 series will only contain bugfixes.<br><br>== Change List ==<br><br>= 1.1.3 - (2010-06-04) =<br> * [[amcl]]<br>
  * Added transform logic to support upside-down lasers &lt;&lt;Ticket(ros-pkg 3051)&gt;&gt;.  Still needs to be tested on a real robot with an upside-down laser.<br>
 * [[fake_localization]]<br>   * Applied patch to allow setting the pose of the robot using the initialpose topic. &lt;&lt;Ticket(ros-pkg 4113)&gt;&gt;<br> * [[map_server]]<br>  * Don&#39;t crash when the current directory is not writable &lt;&lt;Ticket(ros-pkg 4121)&gt;&gt;.<br>

 * [[base_local_planner]]<br>  * Fixed a bug where if the `prune_plan` parameter was set, not enough of the global plan would be transformed to the odometric frame.<br>  * The local planner now takes acceleration limits into account when slowing down to reach a goal and rotating in place.<br>

  * The local planner outputs an error when &quot;acc_limit&quot; is used instead of &quot;acc_lim&quot; since the documentation was wrong.<br>  * The local planner now takes acceleration limits into account when computing the legality of a trajectory rather than being conservative in its reliance on the sim_time parameter.<br>

  * TrajectoryPlannerROS now exposes a checkTrajectory function which allows users to check if a given velocity is legal.<br><br><br>Hope all is well,<br><br>Eitan<br>